EP1909708A1 - Novel computer controlled prosthetic knee device - Google Patents
Novel computer controlled prosthetic knee deviceInfo
- Publication number
- EP1909708A1 EP1909708A1 EP06788878A EP06788878A EP1909708A1 EP 1909708 A1 EP1909708 A1 EP 1909708A1 EP 06788878 A EP06788878 A EP 06788878A EP 06788878 A EP06788878 A EP 06788878A EP 1909708 A1 EP1909708 A1 EP 1909708A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- prosthetic knee
- resistance
- knee
- computer
- flow path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000003127 knee Anatomy 0.000 title claims abstract description 122
- 238000013016 damping Methods 0.000 claims abstract description 61
- 230000005021 gait Effects 0.000 claims abstract description 43
- 239000012530 fluid Substances 0.000 claims description 24
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 11
- 210000000629 knee joint Anatomy 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000000977 initiatory effect Effects 0.000 claims description 7
- 230000000750 progressive effect Effects 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 2
- 238000013150 knee replacement Methods 0.000 claims 4
- 230000003213 activating effect Effects 0.000 claims 1
- 230000007704 transition Effects 0.000 abstract description 12
- 238000005452 bending Methods 0.000 abstract description 2
- 238000004364 calculation method Methods 0.000 description 21
- 210000002414 leg Anatomy 0.000 description 12
- 210000002683 foot Anatomy 0.000 description 9
- 235000014676 Phragmites communis Nutrition 0.000 description 5
- 210000003414 extremity Anatomy 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000003278 mimic effect Effects 0.000 description 3
- DCMURXAZTZQAFB-UHFFFAOYSA-N 1,4-dichloro-2-(2-chlorophenyl)benzene Chemical group ClC1=CC=C(Cl)C(C=2C(=CC=CC=2)Cl)=C1 DCMURXAZTZQAFB-UHFFFAOYSA-N 0.000 description 1
- 235000003325 Ilex Nutrition 0.000 description 1
- 241000209035 Ilex Species 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000007727 signaling mechanism Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
- A61F2/642—Polycentric joints, without longitudinal rotation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
- A61F2/741—Operating or control means fluid, i.e. hydraulic or pneumatic using powered actuators, e.g. stepper motors or solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
- A61F2/748—Valve systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
- A61F2002/5006—Dampers, e.g. hydraulic damper
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension
Definitions
- a prosthetic knee provides a single axis of rotation and includes a hydraulic damping cylinder, a microprocessor, and sensors. Based on input from the sensors, the microprocessor selects a flow path within the hydraulic cylinder in order to provide the proper amount of knee resistance to bending for a given situation.
- the resistance of each flow path within the hydraulic cylinder is manually preset. Changes in gait speed are accommodated by employing a hydraulic damper with intelligently designed position sensitive damping.
- the knee need not be un-weighted to transition from the stance phase to the swing phase of gait. As a result, the knee safely provides a natural, energy efficient gait over a range of terrains and gait speeds and is simpler, less costly, and lighter weight than the prior art.
- a improved prosthetic knee device comprising a computer and a plurality of parallel flow paths of varying flow resistance.
- a method of mimicking a human gait with a computer and sensor disposed in a prosthetic knee comprising, in combination, providing a prosthetic knee with variable damping, wherein the variable damping comprising at least: waiting for a maximum force to be registered in a heel sensor; waiting for a maximum force to be registered in a toe sensor; and initiating a second trigger.
- a prosthetic knee comprising a frame and a rotor connected to the frame providing at least one axis of rotation about the prosthetic knee and using a hydraulic damping cylinder with position sensitive damping to facilitate resistance.
- Figure 2 is a back perspective view of a prosthetic knee in accordance with the disclosure.
- Figure 3 is a front perspective view of the prosthetic knee of FIG. 2.
- Figure 4 is a front elevational view of the prosthetic knee of FIG. 2.
- Figure 5 is a right-side elevational view of the prosthetic knee of FIG. 2.
- Figure 6 is a back elevational view of the prosthetic knee of FIG. 2.
- Figure 9A is a back elevational view of the hydraulic cylinder of the prosthetic knee of FIG. 2.
- the hydraulic damper To achieve a natural, energy efficient gait the hydraulic damper must provide the proper amount of resistance in each of these configurations, and the transition between these configurations must occur quicldy and at the proper time in the gait cycle. In addition, to insure safety the transition should never occur when the user is not walking and the prosthetic limb is weighted.
- the amount of resistance provided by the damper is controlled in both the stiff and the loose configurations by metering the flow of hydraulic fluid through valves that are manually set. The transition between the stiff and loose configurations is triggered by the occurrence of mechanical events (e.g., full extension of the hydraulic cylinder and reversal of hydraulic flow).
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP14166804.6A EP2762108B1 (en) | 2005-07-29 | 2006-07-28 | Computer controlled prosthetic knee device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US70358805P | 2005-07-29 | 2005-07-29 | |
PCT/US2006/029560 WO2007016408A1 (en) | 2005-07-29 | 2006-07-28 | Novel computer controlled prosthetic knee device |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP14166804.6A Division EP2762108B1 (en) | 2005-07-29 | 2006-07-28 | Computer controlled prosthetic knee device |
EP14166804.6A Division-Into EP2762108B1 (en) | 2005-07-29 | 2006-07-28 | Computer controlled prosthetic knee device |
Publications (4)
Publication Number | Publication Date |
---|---|
EP1909708A1 true EP1909708A1 (en) | 2008-04-16 |
EP1909708A4 EP1909708A4 (en) | 2011-11-30 |
EP1909708B1 EP1909708B1 (en) | 2014-05-07 |
EP1909708B2 EP1909708B2 (en) | 2018-02-28 |
Family
ID=37708954
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP06788878.4A Active EP1909708B2 (en) | 2005-07-29 | 2006-07-28 | Novel computer controlled prosthetic knee device |
EP14166804.6A Active EP2762108B1 (en) | 2005-07-29 | 2006-07-28 | Computer controlled prosthetic knee device |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP14166804.6A Active EP2762108B1 (en) | 2005-07-29 | 2006-07-28 | Computer controlled prosthetic knee device |
Country Status (3)
Country | Link |
---|---|
US (2) | US7655050B2 (en) |
EP (2) | EP1909708B2 (en) |
WO (1) | WO2007016408A1 (en) |
Families Citing this family (58)
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US7736394B2 (en) | 2002-08-22 | 2010-06-15 | Victhom Human Bionics Inc. | Actuated prosthesis for amputees |
WO2004017872A1 (en) | 2002-08-22 | 2004-03-04 | Victhom Human Bionics Inc. | Actuated leg prosthesis for above-knee amputees |
US20050107889A1 (en) | 2003-11-18 | 2005-05-19 | Stephane Bedard | Instrumented prosthetic foot |
US7815689B2 (en) | 2003-11-18 | 2010-10-19 | Victhom Human Bionics Inc. | Instrumented prosthetic foot |
CN1929797B (en) * | 2004-02-12 | 2010-05-26 | 奥瑟Hf公司 | System and method for motion-controlled foot unit |
US7896927B2 (en) * | 2004-02-12 | 2011-03-01 | össur hf. | Systems and methods for actuating a prosthetic ankle based on a relaxed position |
WO2005087144A2 (en) * | 2004-03-10 | 2005-09-22 | össur hf | Control system and method for a prosthetic knee |
EP1848380B1 (en) * | 2004-12-22 | 2015-04-15 | Össur hf | Systems and methods for processing limb motion |
US8048007B2 (en) * | 2005-02-02 | 2011-11-01 | össur hf | Prosthetic and orthotic systems usable for rehabilitation |
US8801802B2 (en) * | 2005-02-16 | 2014-08-12 | össur hf | System and method for data communication with a mechatronic device |
SE528516C2 (en) * | 2005-04-19 | 2006-12-05 | Lisa Gramnaes | Combined active and passive leg prosthesis system and a method for performing a movement cycle with such a system |
US8016892B2 (en) | 2005-06-10 | 2011-09-13 | The Ohio Willow Wood Company | Prosthetic device utilizing electric vacuum pump |
US8652217B2 (en) * | 2005-06-10 | 2014-02-18 | The Ohio Willow Wood Company | Prosthetic device utilizing electric vacuum pump |
US7531006B2 (en) * | 2005-09-01 | 2009-05-12 | össur hf | Sensing system and method for motion-controlled foot unit |
US8048172B2 (en) | 2005-09-01 | 2011-11-01 | össur hf | Actuator assembly for prosthetic or orthotic joint |
CN101453964B (en) | 2005-09-01 | 2013-06-12 | 奥瑟Hf公司 | System and method for determining terrain transitions |
CA2651717A1 (en) * | 2006-05-10 | 2007-11-15 | S & S Sarl | Hinged connecting apparatus for a lower limb prosthesis |
EP2104476B1 (en) | 2007-01-05 | 2016-01-06 | Victhom Human Bionics Inc. | High torque active mechanism for orthotic devices |
WO2008080231A1 (en) | 2007-01-05 | 2008-07-10 | Victhom Human Bionics Inc. | Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission |
WO2008086629A1 (en) | 2007-01-19 | 2008-07-24 | Victhom Human Bionics Inc. | Reactive layer control system for prosthetic and orthotic devices |
DE102007032090B4 (en) * | 2007-07-09 | 2016-08-11 | Otto Bock Healthcare Gmbh | Orthopedic fluid damper |
US9078773B2 (en) | 2007-09-19 | 2015-07-14 | Ability Dynamics Llc | Prosthetic foot |
US10405998B2 (en) | 2007-09-19 | 2019-09-10 | Ability Dynamics Llc | Mounting bracket for connecting a prosthetic limb to a prosthetic foot |
US12011373B2 (en) | 2007-09-19 | 2024-06-18 | Proteor USA, LLC | Mounting bracket for connecting a prosthetic limb to a prosthetic foot |
US11020248B2 (en) | 2007-09-19 | 2021-06-01 | Proteor USA, LLC | Vacuum system for a prosthetic foot |
DE102008008282B4 (en) | 2008-02-07 | 2014-04-03 | Otto Bock Healthcare Gmbh | Orthopedic foot and method for controlling an artificial foot |
DE102008008281A1 (en) * | 2008-02-07 | 2009-08-20 | Otto Bock Healthcare Gmbh | Passive orthopedic aid in the form of a foot prosthesis or foot orthosis |
EP2257247B1 (en) * | 2008-03-24 | 2018-04-25 | Ossur HF | Transfemoral prosthetic systems and methods for operating the same |
EP2285315B1 (en) * | 2008-04-30 | 2017-11-15 | Officine Ortopediche Rizzoli S.r.l. | Automatic prosthesis for above-knee amputees |
GB0819554D0 (en) | 2008-10-27 | 2008-12-03 | Orthomobility Ltd | A prosthetic hydraulic joint |
US20110196509A1 (en) * | 2009-02-27 | 2011-08-11 | Ut-Battelle, Llc | Hydraulic apparatus with direct torque control |
US9549827B2 (en) | 2009-04-13 | 2017-01-24 | U.S. Department Of Veterans Affairs | Ankle-foot prosthesis for automatic adaptation to sloped walking surfaces |
DE102009052888A1 (en) * | 2009-11-13 | 2011-05-19 | Otto Bock Healthcare Products Gmbh | Method and device for controlling an artificial orthotic or prosthetic joint |
IT1396692B1 (en) * | 2009-11-18 | 2012-12-14 | Rizzoli Ortopedia S P A | STRUCTURE OF PROSTHESES FOR AMPUTES TO THE LOWER LIMBS. |
EP2590598B1 (en) | 2010-07-07 | 2019-03-13 | Össur HF | Ground contact sensing systems and methods for lower-limb orthotic and prosthetic devices |
CN101889916B (en) * | 2010-07-26 | 2012-05-02 | 东南大学 | Electro-hydraulic damping cylinder device applied to intelligent knee joint |
US8915968B2 (en) * | 2010-09-29 | 2014-12-23 | össur hf | Prosthetic and orthotic devices and methods and systems for controlling the same |
GB2487417B (en) * | 2011-01-21 | 2017-03-01 | Quintus Laurence Anthony Boender Jacob | A prosthesis having movement lock |
US9060884B2 (en) | 2011-05-03 | 2015-06-23 | Victhom Human Bionics Inc. | Impedance simulating motion controller for orthotic and prosthetic applications |
US10543109B2 (en) | 2011-11-11 | 2020-01-28 | Össur Iceland Ehf | Prosthetic device and method with compliant linking member and actuating linking member |
US9532877B2 (en) | 2011-11-11 | 2017-01-03 | Springactive, Inc. | Robotic device and method of using a parallel mechanism |
US9017419B1 (en) | 2012-03-09 | 2015-04-28 | össur hf | Linear actuator |
US9044346B2 (en) | 2012-03-29 | 2015-06-02 | össur hf | Powered prosthetic hip joint |
WO2014039885A1 (en) * | 2012-09-06 | 2014-03-13 | Freedom Innovations, Llc | Method and system for a prosthetic device with multiple levels of functionality enabled through multiple control systems |
US9561118B2 (en) | 2013-02-26 | 2017-02-07 | össur hf | Prosthetic foot with enhanced stability and elastic energy return |
WO2014159347A1 (en) * | 2013-03-13 | 2014-10-02 | U.S. Department Of Veterans Affairs Office Of General Counsel - Psg Iv | Ankle-foot prosthesis for automatic adaptation of sloped walking surfaces |
EP2967920B1 (en) | 2013-03-14 | 2021-04-21 | Ossur Hf | Prosthetic ankle: a method of controlling based on adaptation to speed |
US9028557B2 (en) | 2013-03-14 | 2015-05-12 | Freedom Innovations, Llc | Prosthetic with voice coil valve |
TWI547274B (en) | 2013-08-10 | 2016-09-01 | 錩玄科技有限公司 | Portable human body brace system |
US9763809B2 (en) | 2013-08-27 | 2017-09-19 | Freedom Innovations, Llc | Microprocessor controlled prosthetic ankle system for footwear and terrain adaptation |
CN103431929B (en) * | 2013-08-29 | 2016-01-20 | 电子科技大学 | A kind of strength enhancement mode power exoskeleton walking step state cognitive method and device |
CN106456339B (en) | 2014-04-11 | 2020-02-07 | 奥索有限责任公司 | Prosthetic foot with removable flexible member |
DE102015106391B4 (en) * | 2015-04-24 | 2020-07-09 | Otto Bock Healthcare Products Gmbh | Method for controlling an artificial knee joint |
WO2017049234A1 (en) | 2015-09-18 | 2017-03-23 | Ossur Iceland Ehf | Magnetic locking mechanism for prosthetic or orthotic joints |
WO2018161023A1 (en) | 2017-03-02 | 2018-09-07 | Freedom Innovations, Llc | Prosthetic knee with a rectification hydraulic system |
CN114206272A (en) * | 2019-07-30 | 2022-03-18 | 科里居帕克工业有限公司 | Hydraulic prosthetic knee joint with resistance change mechanism at hyperextension |
WO2021154184A1 (en) * | 2020-01-27 | 2021-08-05 | Proted Protez Ortez Ve Rehabilitasyon Ltd. Sti. | Hydraulic actuator for controlling flexion and extension speed of the prosthetic knee joint |
CN117442398B (en) * | 2023-12-22 | 2024-04-09 | 浙江强脑科技有限公司 | Intelligent artificial limb adjusting method, device, terminal and medium based on gait difference |
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- 2006-07-28 US US11/460,956 patent/US7655050B2/en active Active
- 2006-07-28 WO PCT/US2006/029560 patent/WO2007016408A1/en active Application Filing
- 2006-07-28 EP EP14166804.6A patent/EP2762108B1/en active Active
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2010
- 2010-02-01 US US12/697,969 patent/US8444704B2/en active Active
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Also Published As
Publication number | Publication date |
---|---|
EP2762108B1 (en) | 2018-08-22 |
WO2007016408A1 (en) | 2007-02-08 |
EP2762108A1 (en) | 2014-08-06 |
EP1909708A4 (en) | 2011-11-30 |
EP1909708B1 (en) | 2014-05-07 |
US8444704B2 (en) | 2013-05-21 |
EP1909708B2 (en) | 2018-02-28 |
US20100138000A1 (en) | 2010-06-03 |
US20070027555A1 (en) | 2007-02-01 |
US7655050B2 (en) | 2010-02-02 |
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